Principle Components and Recent Trends of an Unmanned Autonomous

Driving Car

Professor Jungha KimKookmin Unmanned Vehicle research Lab

Definition of Autonomous Driving Car

What is the Autonomous Driving Car?

Looking & Feeling & Listening

Perception & Recognition

Decision & Action(Drive)

Unmanned Ground Vehicle, known as a uncrewed vehicle, driverless car, self-driving car and robotic car.

By oneself, without human input

Levels of Automation (NHTSA)

No-Automation

NHTSA Level 0

Function-

Specific Automation

NHTSA Level 1

LimitedSelf-Driving Automation

NHTSA Level 3

CombinedFunction

Automation

NHTSA Level 2

FullSelf-Driving Automation

NHTSA Level 4

Components of Autonomous Driving Car

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Perception

- LiDAR & Radar & CAMERA Sensors

• Detect an obstacles

• Terrain classification

• Build a Digital Environment

• Localization

Navigation

- GPS & IMU

• Estimate & predict

Current Position

• Localization

• Build a Digital

Environment

Vehicle Control

• Longitudinal & Lateral control

• Vehicle condition estimation

• Fail & Safe

System Architecture of Autonomous Driving Car

Autonomous Driving Car at KUL

Vehicle control & Navigation

Navigation• Holonomic & Non-holonomic

Holonomic Definition :: When controllable degrees of freedom(Vehicle) are equal to the total degrees of freedom(Space).

• Geometric Path Tracking Methods

Pure Pursuit algorithm

• Dynamic Method

Perception & Sensor fusion

Perception & Sensor fusion (2)

Terrain classification

SLAM (Global Map Building)

SLAM (Localization)

Map matching

SLAM (Map matching for Localization)

Path Planning

Path Planning & Simulation

of Stanford Univ.

Path Planning of KUL

Auto Valet Parking

STEP 1 Searching Parking AreaSTEP 2 Generate Parking PathSTEP 3 Moving Autonomous

Driving Car

Domestic Research Trends (Hyundai Kia Motors)

• Hyundai Kia Motor’s Platoon Driving Car Genesis (2014)

• Hyundai Kia Motor’s Autonomous Driving Car include TJA and HDA.

- TJA(Traffic Jam Assist)- HDA(Highway Driving Assist)

Domestic Research Trends (Hyundai Kia Motors)

International Research Trends (Google)

• In 2009, google started testing self-driving technology with the Toyota Prius on freeways in California.

• Google self-driven over 1 million miles and are currently out on the streets of Mountain View, California and Austin, Texas.

• In 2012, google began testing with the Lexus RX450h. At this point, google had completed over 300,000 miles of testing on freeways.

International Research Trends (Mercedes-Benz)

• Introduce Intelligence Driving Car base S500 class (2013)

• Announce Concept Autonomous Driving Car 2015 CES (F015)

• Mercedes Acturus Autonomous Truck driving test on public road (2015)

International Research Trends (Mercedes-Benz-1)

International Research Trends (Mercedes-Benz-2)

International Research Trends (Audi)

• Audi’s Robby race a Sonoma circuit in north California

• Audi’s Jack driven 560 miles CES 2015

• Audi’s Bobby is autonomous driving car RS 7 based that was the first autonomous car to complete a lap at the Hockenheimring track in Germany

International Research Trends (Audi)

International Research Trends (Tesla)

• Tesla provide auto pilot system through upgrade software of model ‘s’ to 7 version

• This software provide various experience, auto parking, lane keeping, lane change(This program’s cost 2500 dollars)

• Next version, tesla provide auto valet parking system

• Tesla using data from customer’s vehicle

International Research Trends (Tesla)

International Research Trends (BMW & Continental)

• BMW and Continental, they cooperate develop autonomous driving car

• BMW’s autonomous driving car based 3-series debut TV show (Top gear in England)

• Continental’s autonomous driving car cross the Nevada state (2012)

International Research Trends (BMW & Continental)

International Research Trends (Nissan & Toyota)

• Nissan demonstrate autonomous driving car in Tokyo motor show (2013)

• Toyota announce ‘mobility teammate concept’ and tested this system (2015)

International Research Trends (Nissan & Toyota)

International Research Trends (WEpods in Nederland)

• Self Driving Bus in Nederland, WEpods developed based on EZ10 model.

• WEpods fully autonomous driving bus without infrastructure.

International Research Trends (WEpods in Nederland)

Autonomous Driving Car of KUL (2013)

• We driven on public road at Wando island in South Korea about 40 kilometers (2013)

• We keep the traffic rule, maximum speed is 80km/hTotal driving time about 45minutes

Autonomous Driving Car of KUL (2013)

Thank you !